Representations/WLan/BehaviorTeamMessage.h

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/**
* @file BehaviorTeamMessage.h
*
* Declaration of class BehaviorTeamMessage
*
* @author Martin Lötzsch
*/ 

#ifndef __BehaviorTeamMessage_h_
#define __BehaviorTeamMessage_h_

#include "Tools/Streams/InOut.h"
#include "Tools/Player.h"




/** 
* @class BehaviorTeamMessage
*
* Represents a message that is exchanged between the behaviors of different robots.
*
* @author Martin Loetzsch
*/
class BehaviorTeamMessage
{
public:
/**
* Constructor.
  */
  BehaviorTeamMessage();

  /** The time that the sender of the message estimates for reaching the ball */
  double estimatedTimeToReachBall;

  /** The time that the sender of the message estimates for reaching the kickoff pos */
  enum Kickoff
  {
    sizeofKickoff = 3
  };
  double estimatedTimeToReachKickoff[sizeofKickoff];

  /* This var holds the playernumber of the choosen pass partner
   * It only relevant if a pass is prepared or executed
   */
  int numberOfTheChoosenPassPartner; 
  /**
  * Different discrete messages that can be exchanged.
  * Used by XabslBehaviorControl.
  */
  enum Message
  {
    none, /*!< no message */

      justPerformedAKick, /*!< The player performed a kick. Used by GT2003BehaviorControl */
      performingAKick, /*!< The player performes a kick. Used by GT2003BehaviorControl */
      preparingAKick, /*!< The player prepares a kick. Used by GT2003BehaviorControl */
      dribbleBall,
      preparingAPass, /*!< The player prepare a pass to an other teammate */
      passing,        /*!< The player passes the ball towards the teammate */
      sync,            /*!< The player sends a sync signal. Used to synchronise behavior */
    moveForward, /*!< Tells the team to move forward. Used for Open Challenge 2005 (Blind Dog)*/
    turn /*!< Tells the team to turn on a point */
  };
  
  /** the message */
  Message message;

  /** 
  * The game state of the sender.
  * Used by Humboldt2003BehaviorControl and GT2003BehaviorControl.
  */
  enum GameState { sleep, initial, ready, set, playing, penalized, finished } gameState;

  /** 
  * The dynamic role of the sender.
  * Used by DDD2003BehaviorControl and GT2003BehaviorControl.
  */
  enum DynamicRole { goalie, striker, offensiveSupporter, defensiveSupporter } dynamicRole;
  
  unsigned long timeSinceRoleChange;

/*  typedef struct WalkR
  {
    double type;
    double x;
    double y;
    double rotation;
  } WalkRequest;
*/
  /**
  * the MothionRequest from the Dog at the bridge.
  * Used by OpenChallange04
  */
 // WalkR walkRequest;

  /** the status of the open challenge */
//  int ocStatus;

  /** 
  * Command from the Striker for the offensive Supporter.
  */

  enum StrikerCommand 
  {
    noCommand,
    goToPosition,
    wingman
  } strikerCommand ;

  enum {numberOfStrikerCommandParameters = 3};

  double strikerCommandParameter[numberOfStrikerCommandParameters];

  const char* getRoleAsString() const { return getRoleString(dynamicRole); } ;

  static const char* getRoleString(DynamicRole role)
  {
    switch(role) {
      case goalie: return ("Goalie");
      case striker: return ("Striker");
      case offensiveSupporter: return ("OffensiveSupporter");
      case defensiveSupporter: return ("DefensiveSupporter");
    }
    return "Undefined player Role";
  }

};






/**
* Streaming operator that reads a BehaviorTeamMessage from a stream.
* @param stream The stream from which is read.
* @param behaviorTeamMessage The BehaviorTeamMessage object.
* @return The stream.
*/ 
In& operator>>(In& stream,BehaviorTeamMessage& behaviorTeamMessage);

/**
* Streaming operator that writes a BehaviorTeamMessage to a stream.
* @param stream The stream to write on.
* @param behaviorTeamMessage The BehaviorTeamMessage object.
* @return The stream.
*/ 
Out& operator<<(Out& stream, const BehaviorTeamMessage& behaviorTeamMessage);

#endif //__BehaviorTeamMessage_h_

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